//  @ Project : SSU Robot Simulator
//  @ File Name : Frame.h
//  @ Date : 4/4/2011
//  @ Author : Andrew Holbrook
//
//

#define WIN32_LEAN_AND_MEAN
#include <Windows.h>

#include <gl/GL.h>

#include "SSURoboSim/Kinematics/Frame.h"

using SSURoboSim::Kinematics::Frame;

Frame::Frame()
{
	theta = 0.0f;
	x = 0.0f;
	y = 0.0f;
	z = 0.0f;
	tx = 0.0f;
	ty = 0.0f;
	tz = 0.0f;
}

void Frame::glTransform()
{
	glTranslatef(tx, ty, tz);
	glRotatef(theta, x, y, z);
}
